From ce04a54b9d61ed22a233e74f9a2ede354463a5d5 Mon Sep 17 00:00:00 2001
From: xushenghao <xushenghao@wuxismart.com>
Date: Tue, 24 Dec 2024 15:56:49 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=85=A5=E6=8C=89=E9=94=AE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Core/Inc/main.h                  |   56 +-
 Core/Src/gpio.c                  |   12 +-
 Core/Src/stm32f1xx_it.c          |   59 +-
 MDK-ARM/motor.uvoptx             |   84 +-
 MDK-ARM/motor.uvprojx            |    5 +
 MDK-ARM/motor/motor.hex          | 2622 +++++++++++++++---------------
 User/application/app.c           |   12 +-
 User/application/app.h           |    1 +
 User/application/key.c           |   57 +
 User/application/key.h           |   13 +
 User/system/lib/driver/tmc2240.c |   22 +-
 User/system/lib/driver/tmc2240.h |    2 +-
 motor.ioc                        |   19 +-
 13 files changed, 1576 insertions(+), 1388 deletions(-)
 create mode 100644 User/application/key.c
 create mode 100644 User/application/key.h

diff --git a/Core/Inc/main.h b/Core/Inc/main.h
index 9d46913..32b7538 100644
--- a/Core/Inc/main.h
+++ b/Core/Inc/main.h
@@ -23,10 +23,11 @@
 #define __MAIN_H
 
 #ifdef __cplusplus
-extern "C" {
+extern "C"
+{
 #endif
 
-/* Includes ------------------------------------------------------------------*/
+    /* Includes ------------------------------------------------------------------*/
 
 #include "stm32f1xx_ll_dma.h"
 #include "stm32f1xx_ll_rcc.h"
@@ -49,28 +50,29 @@ extern "C" {
 /* USER CODE BEGIN Includes */
 #include "sys.h"
 #include "delay.h"
+#include "btn.h"
 #include "lib.h"
 #include "bsp.h"
 
-/* USER CODE END Includes */
+    /* USER CODE END Includes */
 
-/* Exported types ------------------------------------------------------------*/
-/* USER CODE BEGIN ET */
+    /* Exported types ------------------------------------------------------------*/
+    /* USER CODE BEGIN ET */
 
-/* USER CODE END ET */
+    /* USER CODE END ET */
 
-/* Exported constants --------------------------------------------------------*/
-/* USER CODE BEGIN EC */
+    /* Exported constants --------------------------------------------------------*/
+    /* USER CODE BEGIN EC */
 
-/* USER CODE END EC */
+    /* USER CODE END EC */
 
-/* Exported macro ------------------------------------------------------------*/
-/* USER CODE BEGIN EM */
+    /* Exported macro ------------------------------------------------------------*/
+    /* USER CODE BEGIN EM */
 
-/* USER CODE END EM */
+    /* USER CODE END EM */
 
-/* Exported functions prototypes ---------------------------------------------*/
-void Error_Handler(void);
+    /* Exported functions prototypes ---------------------------------------------*/
+    void Error_Handler(void);
 
 /* USER CODE BEGIN EFP */
 
@@ -97,22 +99,24 @@ void Error_Handler(void);
 #define OLED_SDA_GPIO_Port GPIOB
 #define OLDE_SCK_Pin LL_GPIO_PIN_13
 #define OLDE_SCK_GPIO_Port GPIOB
+#define KEY_1_Pin LL_GPIO_PIN_14
+#define KEY_1_GPIO_Port GPIOB
 #ifndef NVIC_PRIORITYGROUP_0
-#define NVIC_PRIORITYGROUP_0         ((uint32_t)0x00000007) /*!< 0 bit  for pre-emption priority,
-                                                                 4 bits for subpriority */
-#define NVIC_PRIORITYGROUP_1         ((uint32_t)0x00000006) /*!< 1 bit  for pre-emption priority,
-                                                                 3 bits for subpriority */
-#define NVIC_PRIORITYGROUP_2         ((uint32_t)0x00000005) /*!< 2 bits for pre-emption priority,
-                                                                 2 bits for subpriority */
-#define NVIC_PRIORITYGROUP_3         ((uint32_t)0x00000004) /*!< 3 bits for pre-emption priority,
-                                                                 1 bit  for subpriority */
-#define NVIC_PRIORITYGROUP_4         ((uint32_t)0x00000003) /*!< 4 bits for pre-emption priority,
-                                                                 0 bit  for subpriority */
+#define NVIC_PRIORITYGROUP_0 ((uint32_t)0x00000007) /*!< 0 bit  for pre-emption priority, \
+                                                         4 bits for subpriority */
+#define NVIC_PRIORITYGROUP_1 ((uint32_t)0x00000006) /*!< 1 bit  for pre-emption priority, \
+                                                         3 bits for subpriority */
+#define NVIC_PRIORITYGROUP_2 ((uint32_t)0x00000005) /*!< 2 bits for pre-emption priority, \
+                                                         2 bits for subpriority */
+#define NVIC_PRIORITYGROUP_3 ((uint32_t)0x00000004) /*!< 3 bits for pre-emption priority, \
+                                                         1 bit  for subpriority */
+#define NVIC_PRIORITYGROUP_4 ((uint32_t)0x00000003) /*!< 4 bits for pre-emption priority, \
+                                                         0 bit  for subpriority */
 #endif
 
-/* USER CODE BEGIN Private defines */
+    /* USER CODE BEGIN Private defines */
 
-/* USER CODE END Private defines */
+    /* USER CODE END Private defines */
 
 #ifdef __cplusplus
 }
diff --git a/Core/Src/gpio.c b/Core/Src/gpio.c
index 41a0ca2..ca43b26 100644
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@@ -94,9 +94,9 @@ void MX_GPIO_Init(void)
   LL_GPIO_Init(TMC2240_DIR_GPIO_Port, &GPIO_InitStruct);
 
   /**/
-  GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_10|LL_GPIO_PIN_11|LL_GPIO_PIN_14
-                          |LL_GPIO_PIN_15|LL_GPIO_PIN_3|LL_GPIO_PIN_4|LL_GPIO_PIN_5
-                          |LL_GPIO_PIN_6|LL_GPIO_PIN_7|LL_GPIO_PIN_8|LL_GPIO_PIN_9;
+  GPIO_InitStruct.Pin = LL_GPIO_PIN_2|LL_GPIO_PIN_10|LL_GPIO_PIN_11|LL_GPIO_PIN_15
+                          |LL_GPIO_PIN_3|LL_GPIO_PIN_4|LL_GPIO_PIN_5|LL_GPIO_PIN_6
+                          |LL_GPIO_PIN_7|LL_GPIO_PIN_8|LL_GPIO_PIN_9;
   GPIO_InitStruct.Mode = LL_GPIO_MODE_ANALOG;
   LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
@@ -108,6 +108,12 @@ void MX_GPIO_Init(void)
   GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
   LL_GPIO_Init(GPIOB, &GPIO_InitStruct);
 
+  /**/
+  GPIO_InitStruct.Pin = KEY_1_Pin;
+  GPIO_InitStruct.Mode = LL_GPIO_MODE_INPUT;
+  GPIO_InitStruct.Pull = LL_GPIO_PULL_UP;
+  LL_GPIO_Init(KEY_1_GPIO_Port, &GPIO_InitStruct);
+
 }
 
 /* USER CODE BEGIN 2 */
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index cb6a358..fc56268 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -25,7 +25,7 @@
 #include "sys.h"
 #include "flow.h"
 #include "board.h"
-
+#include "btn.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -68,8 +68,8 @@
 /*           Cortex-M3 Processor Interruption and Exception Handlers          */
 /******************************************************************************/
 /**
- * @brief This function handles Non maskable interrupt.
- */
+  * @brief This function handles Non maskable interrupt.
+  */
 void NMI_Handler(void)
 {
   /* USER CODE BEGIN NonMaskableInt_IRQn 0 */
@@ -83,8 +83,8 @@ void NMI_Handler(void)
 }
 
 /**
- * @brief This function handles Hard fault interrupt.
- */
+  * @brief This function handles Hard fault interrupt.
+  */
 void HardFault_Handler(void)
 {
   /* USER CODE BEGIN HardFault_IRQn 0 */
@@ -98,8 +98,8 @@ void HardFault_Handler(void)
 }
 
 /**
- * @brief This function handles Memory management fault.
- */
+  * @brief This function handles Memory management fault.
+  */
 void MemManage_Handler(void)
 {
   /* USER CODE BEGIN MemoryManagement_IRQn 0 */
@@ -113,8 +113,8 @@ void MemManage_Handler(void)
 }
 
 /**
- * @brief This function handles Prefetch fault, memory access fault.
- */
+  * @brief This function handles Prefetch fault, memory access fault.
+  */
 void BusFault_Handler(void)
 {
   /* USER CODE BEGIN BusFault_IRQn 0 */
@@ -128,8 +128,8 @@ void BusFault_Handler(void)
 }
 
 /**
- * @brief This function handles Undefined instruction or illegal state.
- */
+  * @brief This function handles Undefined instruction or illegal state.
+  */
 void UsageFault_Handler(void)
 {
   /* USER CODE BEGIN UsageFault_IRQn 0 */
@@ -143,8 +143,8 @@ void UsageFault_Handler(void)
 }
 
 /**
- * @brief This function handles System service call via SWI instruction.
- */
+  * @brief This function handles System service call via SWI instruction.
+  */
 void SVC_Handler(void)
 {
   /* USER CODE BEGIN SVCall_IRQn 0 */
@@ -156,8 +156,8 @@ void SVC_Handler(void)
 }
 
 /**
- * @brief This function handles Debug monitor.
- */
+  * @brief This function handles Debug monitor.
+  */
 void DebugMon_Handler(void)
 {
   /* USER CODE BEGIN DebugMonitor_IRQn 0 */
@@ -169,8 +169,8 @@ void DebugMon_Handler(void)
 }
 
 /**
- * @brief This function handles Pendable request for system service.
- */
+  * @brief This function handles Pendable request for system service.
+  */
 void PendSV_Handler(void)
 {
   /* USER CODE BEGIN PendSV_IRQn 0 */
@@ -182,8 +182,8 @@ void PendSV_Handler(void)
 }
 
 /**
- * @brief This function handles System tick timer.
- */
+  * @brief This function handles System tick timer.
+  */
 void SysTick_Handler(void)
 {
   /* USER CODE BEGIN SysTick_IRQn 0 */
@@ -203,8 +203,8 @@ void SysTick_Handler(void)
 /******************************************************************************/
 
 /**
- * @brief This function handles DMA1 channel4 global interrupt.
- */
+  * @brief This function handles DMA1 channel4 global interrupt.
+  */
 void DMA1_Channel4_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
@@ -217,8 +217,8 @@ void DMA1_Channel4_IRQHandler(void)
 }
 
 /**
- * @brief This function handles DMA1 channel5 global interrupt.
- */
+  * @brief This function handles DMA1 channel5 global interrupt.
+  */
 void DMA1_Channel5_IRQHandler(void)
 {
   /* USER CODE BEGIN DMA1_Channel5_IRQn 0 */
@@ -231,8 +231,8 @@ void DMA1_Channel5_IRQHandler(void)
 }
 
 /**
- * @brief This function handles TIM1 update interrupt.
- */
+  * @brief This function handles TIM1 update interrupt.
+  */
 void TIM1_UP_IRQHandler(void)
 {
   /* USER CODE BEGIN TIM1_UP_IRQn 0 */
@@ -243,14 +243,15 @@ void TIM1_UP_IRQHandler(void)
   {
     TIM_IRQ_HANDLER(TASK_TIM);
     LL_IncTick();
+    button_ticks();
     FLOW_TICK_UPDATE();
   }
   /* USER CODE END TIM1_UP_IRQn 1 */
 }
 
 /**
- * @brief This function handles TIM3 global interrupt.
- */
+  * @brief This function handles TIM3 global interrupt.
+  */
 void TIM3_IRQHandler(void)
 {
   /* USER CODE BEGIN TIM3_IRQn 0 */
@@ -269,8 +270,8 @@ void TIM3_IRQHandler(void)
 }
 
 /**
- * @brief This function handles USART1 global interrupt.
- */
+  * @brief This function handles USART1 global interrupt.
+  */
 void USART1_IRQHandler(void)
 {
   /* USER CODE BEGIN USART1_IRQn 0 */
diff --git a/MDK-ARM/motor.uvoptx b/MDK-ARM/motor.uvoptx
index a16ed32..36cb348 100644
--- a/MDK-ARM/motor.uvoptx
+++ b/MDK-ARM/motor.uvoptx
@@ -364,6 +364,18 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>
+    <File>
+      <GroupNumber>4</GroupNumber>
+      <FileNumber>11</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\application\key.c</PathWithFileName>
+      <FilenameWithoutPath>key.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>
@@ -374,7 +386,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>11</FileNumber>
+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -386,7 +398,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>12</FileNumber>
+      <FileNumber>13</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -398,7 +410,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>13</FileNumber>
+      <FileNumber>14</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -410,7 +422,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>14</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -422,7 +434,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>15</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -434,7 +446,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -446,7 +458,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -458,7 +470,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -470,7 +482,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -490,7 +502,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -502,7 +514,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -514,7 +526,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -526,7 +538,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -538,7 +550,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -550,7 +562,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -562,7 +574,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -574,7 +586,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -586,7 +598,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -606,7 +618,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -618,7 +630,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -630,7 +642,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -650,7 +662,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -662,7 +674,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -674,7 +686,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>34</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -686,7 +698,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>35</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -698,7 +710,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>36</FileNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -710,7 +722,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>37</FileNumber>
+      <FileNumber>38</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -722,7 +734,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>38</FileNumber>
+      <FileNumber>39</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -734,7 +746,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>39</FileNumber>
+      <FileNumber>40</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -746,7 +758,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>40</FileNumber>
+      <FileNumber>41</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -758,7 +770,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>41</FileNumber>
+      <FileNumber>42</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -770,7 +782,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>42</FileNumber>
+      <FileNumber>43</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -782,7 +794,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>43</FileNumber>
+      <FileNumber>44</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -794,7 +806,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>44</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -806,7 +818,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>45</FileNumber>
+      <FileNumber>46</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -818,7 +830,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>46</FileNumber>
+      <FileNumber>47</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
diff --git a/MDK-ARM/motor.uvprojx b/MDK-ARM/motor.uvprojx
index 28e4942..ac6d9b4 100644
--- a/MDK-ARM/motor.uvprojx
+++ b/MDK-ARM/motor.uvprojx
@@ -652,6 +652,11 @@
               <FileType>1</FileType>
               <FilePath>..\User\application\app.c</FilePath>
             </File>
+            <File>
+              <FileName>key.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\application\key.c</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>
diff --git a/MDK-ARM/motor/motor.hex b/MDK-ARM/motor/motor.hex
index fbf76c8..f7e05d7 100644
--- a/MDK-ARM/motor/motor.hex
+++ b/MDK-ARM/motor/motor.hex
@@ -1,23 +1,23 @@
 :020000040800F2
-:100000000035002005010008D51500089B080008F0
-:10001000D115000861080008491C00080000000014
-:10002000000000000000000000000000A919000806
-:100030009908000800000000A9180008AB19000882
+:100000002036002005010008F11500089B080008B3
+:10001000ED15000861080008691C000800000000D8
+:10002000000000000000000000000000C5190008EA
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diff --git a/User/application/app.c b/User/application/app.c
index fd60012..e235947 100644
--- a/User/application/app.c
+++ b/User/application/app.c
@@ -2,12 +2,17 @@
 #include "app.h"
 #include "board.h"
 #include "flow.h"
-
+#include "key.h"
 static struct flow business_fw; // 业务流程
 static struct flow idle_fw;     // 空闲任务
 
 app_t app;
 
+void key_1_callback(PressEvent e)
+{
+    app.angel = 360;
+}
+
 static uint8_t business_inspection(struct flow *fl)
 {
     FL_HEAD(fl);
@@ -40,7 +45,6 @@ static uint8_t idle_inspection(struct flow *fl)
     {
         GPIO_TOGGLE(LED_BLUE_GPIO_Port, LED_BLUE_Pin);
         tmc2240_config_read(TMC2240_1);
-        tmc2240_process(TMC2240_1);
         ssd1306_f6x8_string(0, 2, " tick:");
         ssd1306_f6x8_number(40, 2, tick++, 0);
         ssd1306_f6x8_string(0, 4, " cfg:");
@@ -79,11 +83,11 @@ void app_init(void)
     {
         ssd1306_draw_progress_bar(i);
     }
-
+    ssd1306_clear();
+    key_init();
     FL_INIT(&business_fw); // 业务流程
     FL_INIT(&idle_fw);     // 空闲任务
 
     ENABLE_TIM(TASK_TIM);
     ENABLE_TIM(TMC2240_TIM);
-    ssd1306_clear();
 }
diff --git a/User/application/app.h b/User/application/app.h
index 12c0e67..5aff98d 100644
--- a/User/application/app.h
+++ b/User/application/app.h
@@ -18,4 +18,5 @@ extern app_t app;
 
 void app_init(void);
 void app_run(void);
+
 #endif // APP_H
diff --git a/User/application/key.c b/User/application/key.c
new file mode 100644
index 0000000..08dfad8
--- /dev/null
+++ b/User/application/key.c
@@ -0,0 +1,57 @@
+#include "key.h"
+#include "btn.h"
+
+#define INVALID_BUTTON_TICKS 200 // 无效按键时间 毫秒
+static uint32_t key_start_ticks = 0;
+/* 按钮 */
+struct Button key_1;
+struct Button key_2;
+struct Button key_3;
+struct Button key_4;
+struct Button key_5;
+struct Button key_6;
+
+static BOOL allow_condition(void)
+{
+    /**
+     * key的初始化在LCD板子上电之前，因为是低电平有效，所以会误判为按键按下
+     */
+    if (sys_millis() - key_start_ticks < INVALID_BUTTON_TICKS) // 仿真的时候按键会有毛刺，在xx秒之后按下有效
+    {
+        return FALSE;
+    }
+    return TRUE;
+}
+
+static uint8_t read_button_gpio(button_id_e button_id)
+{
+    if (allow_condition() == FALSE)
+    {
+        return ACTIVE_LEVEL_HIGH;
+    }
+    switch (button_id)
+    {
+    case KEY_1:
+        return GPIO_READ(KEY_1_GPIO_Port, KEY_1_Pin);
+
+    default:
+        return ACTIVE_LEVEL_LOW;
+    }
+}
+
+static void key_1_press_down_handler(void *btn)
+{
+    key_1_callback(PRESS_DOWN);
+}
+
+void key_init(void)
+{
+    key_start_ticks = sys_millis();
+    GPIO_SET_INPUT(KEY_1_GPIO_Port, KEY_1_Pin);
+
+    button_init(&key_1, read_button_gpio, ACTIVE_LEVEL_LOW, KEY_1, KEY_1);
+
+    button_attach(&key_1, PRESS_DOWN, key_1_press_down_handler);
+
+    button_start(&key_1);
+}
diff --git a/User/application/key.h b/User/application/key.h
new file mode 100644
index 0000000..5f89062
--- /dev/null
+++ b/User/application/key.h
@@ -0,0 +1,13 @@
+#ifndef _KEY_H_
+#define _KEY_H_
+#include "main.h"
+
+typedef enum
+{
+    KEY_1 = 1,
+} button_id_e;
+
+void key_1_callback(PressEvent e);
+
+void key_init(void);
+#endif // _KEY_H_
diff --git a/User/system/lib/driver/tmc2240.c b/User/system/lib/driver/tmc2240.c
index bba0572..5c6278c 100644
--- a/User/system/lib/driver/tmc2240.c
+++ b/User/system/lib/driver/tmc2240.c
@@ -256,7 +256,7 @@ void tmc2240_config_read(tmc2240_index_e index)
     tmc->data.tmc2240_temperature = (float32)(tmc->data.tmc2240_adc_temp - 2038) / 7.7;
 }
 
-void tmc2240_process(tmc2240_index_e index)
+void tmc2240_test(tmc2240_index_e index)
 {
     DBG_ASSERT(index < TMC2240_MAX __DBG_LINE);
     tmc2240_t *tmc = &_tmc2240[index];
@@ -310,7 +310,27 @@ void tmc2240_motor_set_angle(tmc2240_index_e index, int32_t angle)
 
     tmc->motor.pulse_count = ABS(angle) / tmc->motor.step_angle;
     tmc->motor.step_angle_count = 0;
+
     tmc->params.enable = TRUE;
+
+    _tmc2240_direction(index, tmc->params.direction);
+    if (PWM_GET_ARR(tmc->timer) != tmc->params.arr)
+    {
+        if (tmc->params.arr == 0)
+        {
+            tmc->params.arr = tmc->default_tm.arr;
+        }
+        PWM_SET_ARR(tmc->timer, tmc->params.arr);
+        tmc->params.freq = PWM_GET_FREQ(tmc->timer);
+    }
+
+    tmc2240_percent(index, tmc->params.percent);
+
+    if (tmc->config.chopconf.bits.mres != tmc->read_config.chopconf.bits.mres)
+    {
+        tmc2240_reg_write(index, TMC2240_CHOPCONF, tmc->config.chopconf.data);
+        _tmc2240_motor_update(index);
+    }
     _tmc2240_enable(index, tmc->params.enable);
 }
 
diff --git a/User/system/lib/driver/tmc2240.h b/User/system/lib/driver/tmc2240.h
index a862083..1f5379d 100644
--- a/User/system/lib/driver/tmc2240.h
+++ b/User/system/lib/driver/tmc2240.h
@@ -367,6 +367,6 @@ tmc2240_t *tmc2240_get(tmc2240_index_e index);
 void tmc2240_motor_set_angle(tmc2240_index_e index, int32_t angle);
 void tmc2240_motor_update(tmc2240_index_e index);
 
-void tmc2240_process(tmc2240_index_e index);
+void tmc2240_test(tmc2240_index_e index);
 void tmc2240_config_read(tmc2240_index_e index);
 #endif // __TMC2240_H
diff --git a/motor.ioc b/motor.ioc
index 968b967..7275418 100644
--- a/motor.ioc
+++ b/motor.ioc
@@ -43,12 +43,13 @@ Mcu.Pin0=PC13-TAMPER-RTC
 Mcu.Pin1=PD0-OSC_IN
 Mcu.Pin10=PB12
 Mcu.Pin11=PB13
-Mcu.Pin12=PA9
-Mcu.Pin13=PA10
-Mcu.Pin14=PA13
-Mcu.Pin15=PA14
-Mcu.Pin16=VP_SYS_VS_Systick
-Mcu.Pin17=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin12=PB14
+Mcu.Pin13=PA9
+Mcu.Pin14=PA10
+Mcu.Pin15=PA13
+Mcu.Pin16=PA14
+Mcu.Pin17=VP_SYS_VS_Systick
+Mcu.Pin18=VP_TIM1_VS_ClockSourceINT
 Mcu.Pin2=PD1-OSC_OUT
 Mcu.Pin3=PA3
 Mcu.Pin4=PA4
@@ -57,7 +58,7 @@ Mcu.Pin6=PA6
 Mcu.Pin7=PA7
 Mcu.Pin8=PB0
 Mcu.Pin9=PB1
-Mcu.PinsNb=18
+Mcu.PinsNb=19
 Mcu.ThirdParty0=RealThread.RT-Thread.3.1.5
 Mcu.ThirdPartyNb=1
 Mcu.UserConstants=
@@ -130,6 +131,10 @@ PB13.GPIO_PuPd=GPIO_PULLUP
 PB13.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
 PB13.PinState=GPIO_PIN_RESET
 PB13.Signal=GPIO_Output
+PB14.GPIOParameters=GPIO_PuPd,GPIO_Label
+PB14.GPIO_Label=KEY_1
+PB14.GPIO_PuPd=GPIO_PULLUP
+PB14.Signal=GPIO_Input
 PC13-TAMPER-RTC.GPIOParameters=GPIO_Label
 PC13-TAMPER-RTC.GPIO_Label=LED_BLUE
 PC13-TAMPER-RTC.Signal=GPIO_Output